CN100374257C - Fluid driven, single-freedom and flexible bending joint - Google Patents
Fluid driven, single-freedom and flexible bending joint Download PDFInfo
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- CN100374257C CN100374257C CNB2005100401629A CN200510040162A CN100374257C CN 100374257 C CN100374257 C CN 100374257C CN B2005100401629 A CNB2005100401629 A CN B2005100401629A CN 200510040162 A CN200510040162 A CN 200510040162A CN 100374257 C CN100374257 C CN 100374257C
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- fingerstall
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Abstract
The present invention relates to a fluid-driven single-freedom flexible bending joint which can be used as various bending joints of mechanical arms, robots or artificial limbs of the disabled, and the present invention belongs to the technical field of the application of mechanical arms, robots or artificial limbs of the disabled, etc. The flexible joint of the present invention is driven by fluid and uses the stress expansion of an elastic wave shell as power, and the bend angle of the joint is relevant to fluid pressure of an inner cavity of the elastic wave shell; elastic elements, such as pull springs, elastic strips, or torsional springs, etc., are used, and the joint recovers to straighten through the action of elastic elements; different types or rigidity of elastic elements can be replaced according to operational requirements to obtain different static and dynamic properties; the deformation of the elastic wave shell is sensitive to the change of liquid pressure and requires low fluid flow, and the bending is flexible. The present invention has the characteristics of small duty ratio, small power / mass ratio and low energy consumption; simultaneously, the relationship between a bending and deforming angle with fluid pressure can be easily established; a control model is simple, and the dynamic control precision is high.
Description
Technical field:
The present invention relates to a kind of fluid-operated single-freedom and flexible bending joint, this joint is the single-degree-of-freedom bending, have the advantages that flexibility is good, be active in one's movements, all kinds of bending joints that can be used as manipulator, robot or disabled person's artificial limb belong to applied technical fields such as manipulator, robot or disabled person's artificial limb.
Background technology:
Before the present invention makes, in prior art, for bending joint: be power generally, adopt various frame for movements, or liquid gas pressure cylinder and motor with all kinds of motors or liquid gas pressure, or with their executive component that is combined as; Each mode all is rigid structures, complex structure, and volume is bigger, the manufacturing cost height.Also has the bending joint that adopts logical compressed-air actuated rubber wall (but the big round rubber pipe of a kind of axial deformation), since rubber wall axially, radially all will expand, but being radially expanded is the waste energy, and the flexural deformation to rubber wall can't obtain than mathematical models, therefore dynamically the control effect is bad, and action is sensitive inadequately.
Summary of the invention:
The objective of the invention is to overcome above-mentioned weak point, flexible joint of the present invention drives with fluid, and with the stressed power that is expanded to of elastomeric bellow, the angle of bend in joint is relevant with the fluid pressure of elastomeric bellow inner chamber; Flexible members such as spring, elastic strip or torsion spring are drawn in employing, and by the effect of flexible member, the joint is replied and stretched; Overcome the effect of flexible member, arthrogryposis also grasps article, and externally active force increases with the fluid pressure of elastomeric bellow inner chamber; Can change the flexible member of variety classes or rigidity according to instructions for use, obtain different quiet, dynamic property.The variation sensitivity of the distortion fluid pressure of joint ripple shell requires fluid flow little, and is flexibly crooked; It is little to have dutycycle, and power/quality is than little, and little characteristics consume energy; Easily set up simultaneously the relation of arthrogryposis angle and fluid pressure, the control model is simple, dynamically the control accuracy height.
Main solution of the present invention is achieved in that
First kind of scheme is: elastomeric bellow 6 is clamped on the bayonet socket of headstock 3a and tailstock 8a by clip 5, and fluid enters the inner chamber of elastomeric bellow 6 by flexible pipe 10 and joint 11, and joint 11 is spun on the tailstock 8a, and there are sealing ring 9 sealings the centre; The two ends of plate hinge 7 are fixed on headstock 3a and the tailstock 8a by screw 4, draw spring 13 two ends to be hooked in two hook axle 12 holes, and two hook axles 12 cooperate with the interporal lacuna of headstock 3a and tailstock 8a respectively, and use nut check; Fingerstall 1 is spun on the headstock 3a, and the thickness of adjusting pad 2 can be regulated the rotatable phase of fingerstall 1; The screw thread of headstock 3a and tailstock 8a is identical, and fingerstall 1 also is spun on tailstock 8a by adjusting pad 2.
Second kind of scheme is: need not draw spring 13, and pass two hook axles 12 with elastic strip 16, and the mode that elastic strip 16 two ends are tightened by locking plate 17 again, all the other structures are with first kind of scheme.
The third scheme is: adopt torsion spring 18 to be installed on the bearing pin of plate hinge 7 mode of restraining plate hinge 7 bendings; Headstock 3a with holes in first kind of scheme and tailstock 8a are replaced with atresia headstock 3b and atresia tailstock 8b, and without hook axle 12, draw parts such as spring 13, elastic strip 16, locking plate 17, all the other structures are with first kind of scheme.
Compared with the prior art the present invention has the following advantages:
It is flexible back bone that the fluid-operated single-freedom and flexible bending joint of the present invention adopts the plate hinge, and elastomeric bellow is subjected to expand as muscular motivation after the fluid pressure action, and the angle of bend in joint is relevant with the fluid pressure of elastomeric bellow inner chamber; Overcome the effect of flexible member, arthrogryposis also grasps article, and externally active force increases with the fluid pressure of elastomeric bellow inner chamber; By the effect of flexible member, the joint is replied and is stretched; Can change the flexible member of variety classes and rigidity according to instructions for use, obtain different quiet, dynamic property.The variation sensitivity of the distortion fluid pressure of joint ripple shell requires fluid flow little, and is flexibly crooked; Have dutycycle little (ratio of the fluid space that the elastomeric bellow bending takies when stretching), power/quality is than little, and little characteristics consume energy; Easily set up simultaneously the relation of flexural deformation angle and fluid pressure, the control model is simple, dynamically the control accuracy height.
Description of drawings:
Fig. 1 is the main cutaway view of flexible bending joint scheme one of the present invention
Fig. 2 is the A-A cutaway view of flexible bending joint scheme one of the present invention
Fig. 3 is the B place enlarged drawing of flexible bending joint scheme one of the present invention
Fig. 4 is the main cutaway view of flexible bending joint scheme two of the present invention
Fig. 5 is the main cutaway view of flexible bending joint scheme three of the present invention
Fig. 6 is the C-C cutaway view of flexible bending joint scheme three of the present invention
Fig. 7 is the main cutaway view of flexible bending joint plate hinge of the present invention
Fig. 8 is the vertical view of flexible bending joint plate hinge of the present invention
Fig. 9 is the front view of flexible bending joint plate torsion spring of the present invention
Figure 10 is the left view of flexible bending joint plate torsion spring of the present invention
The specific embodiment:
Embodiment during following the present invention incites somebody to action in conjunction with the accompanying drawings is further described:
The present invention mainly by fingerstall 1, adjust pad 2, headstock 3a, atresia headstock 3b, screw 4, clip 5, elastomeric bellow 6, plate hinge 7, tailstock 8a, atresia tailstock 8b, sealing ring 9, flexible pipe 10, joint 11, hook axle 12, draw spring 13, annular tram 14, organizine 15, elastic strip 16, locking plate 17, torsion spring 18 etc. to form.
First kind of scheme shown in accompanying drawing 1,2 is: elastomeric bellow 6 is clamped on the bayonet socket of headstock 3a and tailstock 8a by clip 5, the enclosed cavity that elastomeric bellow 6, headstock 3a and tailstock 8a constitute; Fluid enters the joint cavity by flexible pipe 10 and joint 11, and joint 11 is spun on the tailstock 8a, and there are sealing ring 9 sealings the centre; The two ends of plate hinge 7 are fixed on headstock 3a and the tailstock 8a by screw 4; Draw spring 13 two ends to be hooked in two hook axle 12 holes, two hook axles 12 cooperate with the interporal lacuna of headstock 3a and tailstock 8a respectively, use nut check, and when guaranteeing to draw spring 13 to be in free state, stretch in the joint; Fingerstall 1 is spun on the headstock 3a, and the thickness of adjusting pad 2 can be regulated the rotatable phase of fingerstall 1; The screw thread of headstock 3a and tailstock 8a is identical, and fingerstall 1 also is spun on tailstock 8a by adjusting pad 2, in order to assemble second flexible joint, forms multi-joint manipulator.The structure of plate hinge 7 is shown in accompanying drawing 7,8.
As shown in Figure 3, elastomeric bellow 6 single-unit vertical sectional shapes are " V ", " U ", " Ω " etc., in be with or without the annular tram 14 of strengthening usefulness and twine annular tram 14, along the organizine 15 of contoured profile.
Second kind of scheme as shown in Figure 4 is: need not draw spring 13, pass two holes on the hook axle 12 with elastic strip 16, elastic strip 16 two ends are tightened by locking plate 17 again, and all the other structures are with first kind of scheme.
The third scheme shown in accompanying drawing 5,6 is: adopt torsion spring 18 to be installed on the bearing pin of plate hinge 7 mode of restraining plate hinge 7 bendings; Headstock 3a with holes in first kind of scheme and tailstock 8a are replaced with atresia headstock 3b and atresia tailstock 8b, and without hook axle 12, draw parts such as spring 13, elastic strip 16, locking plate 17, all the other structures are with first kind of scheme.The structure of torsion spring 18 is shown in accompanying drawing 9,10.
Be the operation principle of the present invention and the course of work below:
The fluid-operated single-freedom and flexible bending joint of the present invention can be formed the finger of multi-joint manipulator, and each bending joint respectively has a circuits system; Control system is transmitted pressure signal according to the pressure transmitter of pipe-line system, and more predefined value is closed inlet valve by computer control, guarantees each arthrogryposis angle or keeps external active force; Connect outlet valve, by the flexible member rebound effect, the fluid of elastomeric bellow inner chamber is discharged, and stretch in the joint, discharges and grasps thing.The fast jogging speed of arthrogryposis, answer is by the throttle valve control of pipe-line system.
Claims (4)
1. fluid-operated single-freedom and flexible bending joint, it is characterized in that: elastomeric bellow (6) is clamped on the bayonet socket of headstock (3a) and tailstock (8a) by clip (5), fluid enters the inner chamber of elastomeric bellow (6) by flexible pipe (10) and joint (11), joint (11) is spun on the tailstock (8a), and there is sealing ring (9) sealing the centre; The two ends of plate hinge (7) are fixed on headstock (3a) and the tailstock (8a) by screw (4), draw spring (13) two ends to be hooked in two hook axles (12) hole, and two hook axles (12) cooperate with the interporal lacuna of headstock (3a) and tailstock (8a) respectively, and use nut check; Fingerstall (1) is spun on the headstock (3a), and the thickness of adjusting pad (2) can be regulated the rotatable phase of fingerstall (1); Headstock (3a) is identical with the screw thread of tailstock (8a), and fingerstall (1) also is spun on the tailstock (8a) by adjusting pad (2).
2. fluid-operated single-freedom and flexible bending joint, it is characterized in that: elastomeric bellow (6) is clamped on the bayonet socket of headstock (3a) and tailstock (8a) by clip (5), fluid enters the inner chamber of elastomeric bellow (6) by flexible pipe (10) and joint (11), joint (11) is spun on the tailstock (8a), and there is sealing ring (9) sealing the centre; The two ends of plate hinge (7) are fixed on headstock (3a) and the tailstock (8a) by screw (4), two hook axles (12) hole is passed at elastic strip (16) two ends, elastic strip (16) two ends are tightened by locking plate (17) again, two hook axles (12) cooperate with the interporal lacuna of headstock (3a) and tailstock (8a) respectively, and use nut check; Fingerstall (1) is spun on the headstock (3a), and the thickness of adjusting pad (2) can be regulated the rotatable phase of fingerstall (1); Headstock (3a) is identical with the screw thread of tailstock (8a), and fingerstall (1) also is spun on the tailstock (8a) by adjusting pad (2).
3. fluid-operated single-freedom and flexible bending joint, it is characterized in that: elastomeric bellow (6) is clamped on the bayonet socket of atresia headstock (3b) and atresia tailstock (8b) by clip (5), fluid enters the inner chamber of elastomeric bellow (6) by flexible pipe (10) and joint (11), joint (11) is spun on the atresia tailstock (8b), and there is sealing ring (9) sealing the centre; The two ends of plate hinge (7) are fixed on atresia headstock (3b) and the atresia tailstock (8b) by screw (4), and torsion spring (18) is installed on the bearing pin of plate hinge (7); Fingerstall (1) is spun on the atresia headstock (3b), and the thickness of adjusting pad (2) can be regulated the rotatable phase of fingerstall (1); Atresia headstock (3b) is identical with the screw thread of atresia tailstock (8b), and fingerstall (1) also is spun on the atresia tailstock (8b) by adjusting pad (2).
4. according to claim 1 or 2 or 3 described fluid-operated single-freedom and flexible bending joints, it is characterized in that: the single-unit vertical sectional shape of elastomeric bellow (6) is " V ", " U ", " Ω " bellows, in be with or without the annular tram (14) of strengthening usefulness and the annular tram of winding (14), along the organizine (15) of contoured profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100401629A CN100374257C (en) | 2005-05-19 | 2005-05-19 | Fluid driven, single-freedom and flexible bending joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100401629A CN100374257C (en) | 2005-05-19 | 2005-05-19 | Fluid driven, single-freedom and flexible bending joint |
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| Publication Number | Publication Date |
|---|---|
| CN1693036A CN1693036A (en) | 2005-11-09 |
| CN100374257C true CN100374257C (en) | 2008-03-12 |
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| CNB2005100401629A Expired - Fee Related CN100374257C (en) | 2005-05-19 | 2005-05-19 | Fluid driven, single-freedom and flexible bending joint |
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| CN (1) | CN100374257C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186170A (en) * | 2018-01-11 | 2018-06-22 | 长春市漫思教育科技有限公司 | A kind of printing prosthetic hand and its manufacturing method |
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| CN101554730B (en) * | 2008-04-11 | 2013-08-28 | 江南大学 | Articulated flexible manipulator |
| CN102092046B (en) * | 2010-12-09 | 2013-08-28 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| CN102536594B (en) * | 2012-01-09 | 2013-10-09 | 东北师范大学 | Automatic direction regulating device of rotation-free joint of horizontal axis tidal current energy generating system |
| CN104802178B (en) * | 2015-05-12 | 2017-05-10 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator |
| CN107998646B (en) * | 2017-09-22 | 2023-01-06 | 深圳市御嘉鑫科技股份有限公司 | Intelligent joint variable force protective tool |
| CN110731290A (en) * | 2019-12-11 | 2020-01-31 | 广东海洋大学 | sea anti-wind wave net cage |
| CN111544165B (en) * | 2020-04-07 | 2023-03-24 | 上海理工大学 | Bionic power device for artificial limb joint |
| CN112596198B (en) * | 2020-12-28 | 2022-06-21 | 中国科学院长春光学精密机械与物理研究所 | Curvature error adjusting device and method for large-caliber spliced reflector |
| CN114434472A (en) * | 2022-01-28 | 2022-05-06 | 西安交通大学 | Bionic hand system and control method |
| CN114474115A (en) * | 2022-01-28 | 2022-05-13 | 西安交通大学 | Rigid-flexible coupling bionic finger and clamping jaw |
| CN114434471A (en) * | 2022-01-28 | 2022-05-06 | 西安交通大学 | Rigid-flexible bionic hand and bionic robot |
Citations (2)
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|---|---|---|---|---|
| DE20309196U1 (en) * | 2002-05-17 | 2003-11-13 | Karlsruhe Forschzent | Swivel device and swivel system |
| CN1570407A (en) * | 2003-07-14 | 2005-01-26 | 浙江工业大学 | Pneumatic flexible ball-joint |
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2005
- 2005-05-19 CN CNB2005100401629A patent/CN100374257C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20309196U1 (en) * | 2002-05-17 | 2003-11-13 | Karlsruhe Forschzent | Swivel device and swivel system |
| CN1570407A (en) * | 2003-07-14 | 2005-01-26 | 浙江工业大学 | Pneumatic flexible ball-joint |
Non-Patent Citations (3)
| Title |
|---|
| 一种新型弯曲关节的建模研究. 杨庆华，陈刚，周泉，张立彬，阮健.浙江工业大学学报，第31卷第1期. 2003 * |
| 板弹簧柔性手指关节弯曲的模型研究. 章军，须文波，范本隽.机械设计与研究，第21卷第1期. 2005 * |
| 气动式柔性限自由度机械手指. 章军，须文波，杨宏建.液压与气动，第8期. 2004 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186170A (en) * | 2018-01-11 | 2018-06-22 | 长春市漫思教育科技有限公司 | A kind of printing prosthetic hand and its manufacturing method |
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| CN1693036A (en) | 2005-11-09 |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Wuxi Turbine Blade Co., Ltd. Assignor: Jiangnan University Contract fulfillment period: 2008.12.16 to 2014.12.16 contract change Contract record no.: 2009320000167 Denomination of invention: Fluid driven, single-freedom and flexible bending joint Granted publication date: 20080312 License type: Exclusive license Record date: 2009.3.2 |
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Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.12.16 TO 2014.12.16; CHANGE OF CONTRACT Name of requester: WUXI TURBINE BLADE CO., LTD. Effective date: 20090302 |
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Assignee: Wuxi Turbine Blade Co., Ltd. Assignor: Jiangnan University Contract record no.: 2009320000167 Date of cancellation: 20130128 |
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Granted publication date: 20080312 Termination date: 20140519 |